#include <msp430FG4618.h>
#include <stdio.h>
#include <math.h>

#define a 0x08                                  // LCD индикатора
#define b 0x04
#define c 0x02
#define d 0x01
#define e 0x20
#define f 0x10
#define g 0x40
#define h 0x80
#define minus 0x40
#define LCD_MEM_OFFSET 2                        // Offset from LCDMEM[0]
#define LCD_MEM_LOC 11                          // Num of LCDMEM[] locations used

volatile unsigned int count = 0;                // impulse counter
volatile float vel1 = 0;                        // first velocity
volatile float vel2 = 0;                        // second velocity
volatile float accel = 0;                       // acceleration
unsigned char digits[10] = {                    // 0 - 9 numbers
   a+b+c+d+f+g,
   b+c,
   a+d+c+e+g,
   a+b+c+d+e,
   b+c+e+f,
   d+f+e+b+a,
   d+f+g+a+b+e,
   f+d+c+b,
   a+b+c+d+f+e+g,
   a+b+c+d+f+e
};

void lcd_init() {
    LCDACTL = LCDON + LCD4MUX + LCDFREQ_128;   // turn LCD on
    LCDAPCTL0 = LCDS4 + LCDS8 + LCDS12 + LCDS16 + LCDS20 + LCDS24;
    P5SEL |= BIT2 + BIT3 + BIT4;               // COM1 + COM2 + COM3
    LCDMEM[3] = 0;
    LCDMEM[4] = 0;
    LCDMEM[5] = 0;
    LCDMEM[6] = 0;
    LCDMEM[7] = 0;
    LCDMEM[8] = 0;
    LCDMEM[9] = 0;
}

void lcd_clear() {
    for (int i = LCD_MEM_OFFSET; i < (LCD_MEM_OFFSET + LCD_MEM_LOC); i++) {
        LCDMEM[i] = 0;
    }
}

void input_init() {
    P1DIR &= ~0x05;                             // P1.0 - CCI0A, P1.2 - CCI1A
    P1SEL |= 0x05;
}

void timerA0_init() {
    TACCR0 = 31250 - 1;                         // SMCLK - 1 MHz, divided by 8 it is 125000, 31250 is 1/4 of SMCLK divided by 8
    TACCTL0 |= CCIE;                            // CCR0 interrupt enabled
    TACCTL1 |= CM_1 + CCIS_0 + CAP + CCIE;      // capture front rising + CCI1A + capture mode + CCR1 interrupt enabled
    TACTL = TASSEL_2 + ID_3 + MC_1 + TACLR;     // SMCLK + divider /8 + continuous mode + TAIE
}

void calculations() {
    vel1 = vel2;                                // 32 max counts per sec, 8 counts per 1/4 sec
    vel2 = count * 4 * M_PI;                    // vel = (count * M_PI) / (1/4)
    accel = abs((vel2 - vel1)) * 4;             // accel = abs((vel2 - vel1)) / (1/4)
    count = 0;                                  // reset counter
}
void lcd_print() {
    int k = (int)acceleration % 10;
    LCDMEM[2] = digits[(k & 0x0F)];
    int n = (int)acceleration / 10;

    k = n % 10;
    LCDMEM[3] = digits[(k & 0x0F)];
    n = n / 10;

    k = n % 10;
    LCDMEM[4] = digits[(k & 0x0F)];
    n = n / 10;

    k = n % 10;
    LCDMEM[5] = digits[(k & 0x0F)];
    n = n / 10;
}

void main(void)
{
    WDTCTL = WDTPW + WDTHOLD;                   // Stop watchdog timer
    lcd_init();
    lcd_clear();
    input_init();
    timerA0_init();
    __enable_interrupt();                       // Enable interrupts
}

#pragma vector=TIMERA0_VECTOR
__interrupt void timer_accel_calculation(void) {
    calculations();
    printf("acceleration %.2f \n", accel);
    lcd_print();
}

#pragma vector=TIMERA1_VECTOR
__interrupt void timer_input_capture(void) {
    switch(__even_in_range(TAIV,10))
    {
        case 2 :                                // TACCR1 CCIFG
            count++;                            // counting input pulses
            break;
        default:
            break;
    }
}